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<div class="title">se3_ops.h</div>  </div>
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<a href="se3__ops_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 H. Strasdat</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_MATH_STUFF</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">   28</a></span>&#160;<span class="preprocessor">#define G2O_MATH_STUFF</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Geometry&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">inline</span> Matrix3d <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(<span class="keyword">const</span> Vector3d&amp;v);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">inline</span> Vector3d <a class="code" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">deltaR</a>(<span class="keyword">const</span> Matrix3d&amp; R);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">inline</span> Vector2d <a class="code" href="namespaceg2o.html#a45b89a0471d862c09167e7ce718df000">project</a>(<span class="keyword">const</span> Vector3d&amp;);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">inline</span> Vector3d <a class="code" href="namespaceg2o.html#a45b89a0471d862c09167e7ce718df000">project</a>(<span class="keyword">const</span> Vector4d&amp;);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">inline</span> Vector3d <a class="code" href="namespaceg2o.html#ab8746174c3f8c25af4188fc24b2dc3d4">unproject</a>(<span class="keyword">const</span> Vector2d&amp;);</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">   41</a></span>&#160;  <span class="keyword">inline</span> Vector4d <a class="code" href="namespaceg2o.html#ab8746174c3f8c25af4188fc24b2dc3d4">unproject</a>(<span class="keyword">const</span> Vector3d&amp;);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="se3__ops_8hpp.html">se3_ops.hpp</a>&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#endif //MATH_STUFF</span></div><div class="ttc" id="namespaceg2o_html_ab8746174c3f8c25af4188fc24b2dc3d4"><div class="ttname"><a href="namespaceg2o.html#ab8746174c3f8c25af4188fc24b2dc3d4">g2o::unproject</a></div><div class="ttdeci">Vector3d unproject(const Vector2d &amp;)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:67</div></div>
<div class="ttc" id="namespaceg2o_html_a2e39915fb420fd7dc2d3802435e4a6a9"><div class="ttname"><a href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">g2o::deltaR</a></div><div class="ttdeci">Vector3d deltaR(const Matrix3d &amp;R)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:41</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="se3__ops_8hpp_html"><div class="ttname"><a href="se3__ops_8hpp.html">se3_ops.hpp</a></div></div>
<div class="ttc" id="namespaceg2o_html_a45b89a0471d862c09167e7ce718df000"><div class="ttname"><a href="namespaceg2o.html#a45b89a0471d862c09167e7ce718df000">g2o::project</a></div><div class="ttdeci">Vector2d project(const Vector3d &amp;)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:50</div></div>
<div class="ttc" id="namespaceg2o_html_adb3143a37b9bc002f4f7b6423061ef81"><div class="ttname"><a href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">g2o::skew</a></div><div class="ttdeci">Matrix3d skew(const Vector3d &amp;v)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:28</div></div>
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